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  Generalized-ICP Copyright (c) 2009 Aleksandr Segal; avsegal@cs.stanford.edu.
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  All rights reserved.  
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  Redistribution and use in source and binary forms, with 
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  or without modification, are permitted provided that the 
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  following conditions are met:
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* Redistributions of source code must retain the above 
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  copyright notice, this list of conditions and the 
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  following disclaimer.
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* Redistributions in binary form must reproduce the above
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  copyright notice, this list of conditions and the 
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  following disclaimer in the documentation and/or other
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  materials provided with the distribution.
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* The names of the contributors may not be used to endorse
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  or promote products derived from this software
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  without specific prior written permission.
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  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
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  CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED
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  WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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  WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
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  PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, 
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  INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 
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  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, 
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  PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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  DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 
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  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE 
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  OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
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  DAMAGE.